Lecture 1

Introduction - Course mechanics

History
Control engineering at present

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Control Engineering

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Introduction - Course Mechanics

What this course is about?

Prerequisites & course place in the curriculum
Course mechanics
Outline and topics
Your instructor

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What this course is about?

Embedded computing is becoming ubiquitous
Need to process sensor data and influence physical world.
This is control and knowing its main concepts is important.
Much of control theory is esoteric and difficult
90% of the real world applications are based on 10% of the
existing control methods and theory
The course is about these 10%
Focus on a few methods used in majority of the applications
Some methods are familiar from E105, EE205; actual application
of these methods is the key in this course
Some material is not covered in other courses
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Course Focus and Name

Academic research

Quest for knowledge

What else can we say about this topic
Mathematical theory
Many controls books and papers

This course
Oriented towards engineering practices in industry
What is the minimal knowledge/skills we need to solve an
engineering problem?
What are the engineering problems?
What methods do engineers actually use in industry?
Additional knowledge sure helps
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Prerequisites and course place

Prerequisites:
Linear algebra: EE263, Math 103
Systems and control basics: EE102, ENGR 105, ENGR 205

Helpful

Matlab
Modeling and simulation
Optimization
Application fields
Some control theory good, but not assumed.

Learn more advanced control theory:

In ENGR 207, ENGR 209, and ENGR 210
Needed for high-performance applications
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Course Mechanics

Descriptive in addition to math and theory. Skills and attitude.

Grading (the weights are approximate)
35% Homework Assignments (3 at all)
30% Midterm Project
35% Final Project

Notes at www.stanford.edu/class/ee392M/
Posted as available
2003 version available, the 2005 version has less coverage and more depth

Reference texts
Analysis and Design of Feedback Systems, strm and Murray, 2003.
http://www.cds.caltech.edu/~murray/courses/cds101/fa03/caltech/am03.html
Feedback Control of Dynamic Systems, Fourth Edition, Franklin, Powell,
Emami-Naeini, Prentice Hall, 2002
Control System Design, Goodwin, Graebe, Salgado, Prentice Hall, 2001
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Outline and topics

Lectures - Mondays & Wednesday

Assignments - due in a week

2:30-3:45pm

Lecture 6 Outer Loop

Lecture 7 SISO Analysis
Lecture 8 SISO Design

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Additional
topics

SISO
Control

Basic

Lecture 1 Introduction
Lecture 2 Linear Systems
Lecture 3 Basic Feedback
Lecture 4 PID
Lecture 5 Digital Control

Lecture 9 Modeling & Simulation

Lecture 10 Identification
Lecture 11 Internal Model Control

Advanced Control

Lecture topics

Lecture 12 Optimization
Lecture 13 Programmed Control
Lecture 14 Model Predictive
Control
Lecture 15 System Health
Management

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Assignment timeline
Assignment 1
Assignment 2

Midterm

Assignment 3

Final
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Lecture 1 Introduction
Lecture 2 Linear Systems
Lecture 3 Basic Feedback
Lecture 4 PID
Lecture 5 Digital Control
Lecture 6 Outer Loop
Lecture 7 SISO Analysis
Lecture 8 SISO Design
Lecture 9 Modeling & Simulation
Lecture 10 Identification
Lecture 11 Internal Model Control
Lecture 12 Optimization
Lecture 13 Programmed Control
Lecture 14 Model Predictive Control
Lecture 15 System Health Management
Final presentation
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Who is your instructor?

Consulting Professor of EE
Honeywell Labs
Minneapolis, MN
San Jose, CA

Worked on decision and control systems applications

across many industries
PhD from Moscow University
Moscow Munich Toronto Vancouver Palo Alto

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Lecture 1 - Control History

Watts governor
Thermostat
Feedback Amplifier
Missile range control
DCS
TCP/IP
=======================
Current trends
Control application areas

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Why bother about the history?

Trying to guess, where the trend goes
Many of the control techniques that are talked about are
there for historical reasons mostly. Need to understand
that.

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1788 Watts Flyball Governor

Watts Steam Engine
Newcomens steam engine (1712)
was a limited success
Beginning of systems engineering
Watts systems engineering add-on
started the Industrial Revolution
Analysis of James Clark Maxwell
(1868)
Vyshnegradsky (1877)
From the 1832 Edinburgh Encyclopaedia

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Main Points
Mechanical technology use was extended from
power to regulation
It worked and improved reliability of steam engines
significantly by automating operators function
Analysis was done much later (some 100 years).
This seems to be typical!
Parallel discovery of major theoretical approaches

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Watts governor
Analysis of James Clark Maxwell (1868)

ml&& = l mG2 l sin cos mg sin b&

J& E = k cos TL

G = n E
Linearization

= 0 + x
E = 0 + y

x << 1
y << 1

&y&& + a1 &y& + a2 y& + a3 y = 0

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Watts governor
&y&& + a1 &y& + a2 y& + a3 y = 0
Characteristic equation:
3 + a12 + a2 + a3 = 0

y=e

Im

Stability condition:

Re k < 0, ( k = 1,2,3)
Main points:

Re

Modeling
P feedback control
Linearization
LHP poles

All still valid

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1885 Thermostat
1885 Al Butz invented damper-flapper
bimetal plate (sensor/control)
motor to move the furnace damper)

Started a company that became

Honeywell in 1927
Thermostat switching on makes the main motor shaft to
turn one-half revolution opening the furnace's air damper.
Thermostat switching off makes the motor to turn another
half revolution, closing the damper and damping the fire.
On-off control based on threshold
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Main Points
Use of emerging electrical system technology
Significant market for heating regulation (especially in
Minnesota and Wisconsin)
Increased comfort and fuel savings passed to the customer.
Customer value proposition
Integrated control device with an actuator. Add-on device
installed with existing heating systems

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1930s Feedback Amplifier

Signal amplification in first telecom systems (telephone)
Analog vacuum tube amplifier technology
Feedback concept
V1 V V V2
=
R1
R2
V2 = GV

1 11
V1
1
R1 1
R2
= R1 + = 1 1 +
V2
R2 G
R1
R2 G R1 R2
Bodes analysis of the transients in the amplifiers (1940)
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Feedback Amplifier - Main Points

Electronic systems technology
Large telecommunications market
Useful properties of large gain feedback realized:
linearization, error insensitivity
Conceptual step. It was initially unclear why the feedback
loop would work dynamically, why it would not always
grow unstable.

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1940s WWII Military Applications

Sperry Gyroscope Company flight instruments later
bought by Honeywell to become Honeywell aerospace
control business.
Servosystem gun pointing, ship steering, using gyro
Norden bombsight Honeywell C-1 autopilot - over
110,000 manufactured.
Concepts electromechanical feedback, PID control.
Nyquist, servomechanism, transfer function analysis,

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Autopilot - Main Points

Enabled by the navigation technology - Sperry gyro
Honeywell got the autopilot contract because of its
control system expertise in thermostats
Emergence of cross-application control engineering
technology and control business specialization.

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1960s - Rocket science

SS-7 missile range control
through the main engine cutoff time.

Range
r = F (Vx , V y , X , Y )
Range Error

USSR R-16/8K64/SS-7/Saddler
Copyright 2001 RussianSpaceWeb.com
http://www.russianspaceweb.com/r16.html

r (t ) = f1Vx (t ) + f 2 V y (t ) + f 3X (t ) + f 4 Y (t )
Algorithm:
track r (t ) , cut the engine off at T when r (T ) = 0
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Missile range control - Main Points

Nominal trajectory needs to be pre-computed and optimized
Need to have an accurate inertial navigation system to
estimate the speed and coordinates
Need to have feedback control that keeps the missile close to
the nominal trajectory (guidance and flight control system)
f1, f2, f3, f4, and fT must be pre-computed
Need to have an on-board device continuously computing

r (t ) = f1Vx (t ) + f 2 V y (t ) + f 3X (t ) + f 4 Y (t )

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1975 - Distributed Control System

1963 - Direct digital control was introduced at a
petrochemical plant (Texaco)
1970 - PLC's were introduced on the market.
1975 - First DCS was introduced by Honeywell
PID control, flexible software
Networked control system, configuration tuning and access
from one UI station
Auto-tuning technology

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DCS
example
Honeywell
Experion PKS
Honeywell Plantscape

SCADA = Supervisory Control And Data Acquisition

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DCS - Main Points

Digital technology + networking

Rapid pace of the process industry automation
The same PID control algorithms
Deployment, support and maintenance cost reduction for
massive amount of loops
Auto-tuning technology
Industrial digital control is becoming a commodity
Facilitates deployment of supervisory control and monitoring

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1974 - TCP/IP

TCP/IP - Cerf/Kahn, 1974

Berkeley-LLNL network
crash, 1984
Congestion control -Van
Jacobson, 1986
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TCP flow control

Round Trip Time
Source

1 2

1 2

time

ACK

data
Destination

1 2

1 2

time

Transmission rate: x = W packets/sec

Here:
Flow control dynamics near the maximal transmission rate
From S.Low, F.Paganini, J.Doyle, CSM, 2000
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TCP Reno congestion avoidance

packet acknowledgment rate: x
lost packets: with probability q
xlost = xW / 2

for every loss {

W = W/2
}
for every ACK {
W += 1/W
}

x& = q
x& =
EE392m - Spring 2005
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transmitted: with probability (1-q)

xsent = x / W

xlost

1 q

+ (1 q )

1 2
qx
2

xsent

Control Engineering

x=

x - transmission rate
- round trip time
q - loss probability
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TCP flow control - Main Points

Flow control enables stable operation of the Internet

Developed by CS folks - no controls analysis
Ubiquitous, TCP stack is on every piece of silicon
Analysis and systematic design is being developed some
20 years later
The behavior of the network is important. We looked at a
single transmission link.
Most of analysis and systematic design activity are
happening in the last 5-6 years and this is not over yet ...

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Past Present
That was history
What is going on in control at present?

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Control Engineering at Present

Controls people could ask:
What big control application is coming next?
Where and how control technology will be used?
Other engineers could ask:
What do we need to know about controls to get by?
Will discuss in this course, along with some systems
engineering ideas
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Focus of This Course

Measurement
system,
sensors

Control
computing

Control
handles,
actuators

Physical system

This course is focused on control computing algorithms

and their relationship with the overall system design.
System engineering (design and analysis) is closely related
to control computing analysis
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Technology Trends
Why this is relevant and important at present?
Computing is becoming ubiquitous
Sensors are becoming miniaturized, cheap, and pervasive.
MEMS sensors
Actuator technology developments include:

evolution of existing types

previously hidden in the system, not actively controlled
micro-actuators (piezo, MEMS)
control handles other than mechanical actuators, e.g., in telecom

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Measurement system evolution.

Navigation system example
Mechanical gyro by Sperry for ships,
aircraft. Honeywell acquired Sperry
Aerospace in 1986 - avionics, space.

Laser ring gyro, used in

aerospace presently.
MEMS gyro good for any
vehicle/mobile appliance.
(1") 3 integrated navigation unit
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Actuator evolution
Electromechanical actuators: car power everything

Communication - digital PLL

Adaptive optics, MEMS

control
handle

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Control computing
Computing grows much faster than the sensors and actuators
CAD tools, such as Matlab/Simulink, allow focusing on
algorithm design. Implementation is automated
Past: control was done by dedicated and highly specialized
experts. Still the case for some very advanced systems in
aerospace, military, automotive, etc.
Present: control and signal-processing technology are
standard technologies associated with computing.
Embedded systems are often designed by system/software
engineers.
This course emphasizes practically important issues of
control computing
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Control and Systems Engineering

Computing element - software

System, actuator, and sensor physics might be very different
Modeling abstraction
Controls and systems engineering are used across many
applications
similar principles
transferable skills
mind the application!

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Practical Issues of Control Design

Technical requirements
Economics: value added, # of replications
automotive, telecom, disk drives - millions of copies produced
space, aviation - unique to dozens to several hundreds
process control - each process is unique, hundreds of the same type

Developer interests, cool factor

Integration with existing system features
Skill set in engineering development and support
Field service/support requirements
Marketing/competition, creation of unique IP
Regulation/certification: FAA/FDA

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Major control applications

Specialized control groups, formal development processes
Aviation
Guidance, Navigation, and Control (GN&C)
propulsion - engines
vehicle utilities: power, environmental control, etc

Automotive
powertrain
suspension, traction, braking, steering

Disk drives
Industrial automation and process control
process industries: refineries, pulp and paper, chemical
semiconductor manufacturing processes
home and buildings
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Commercial applications
Advanced design - commercial
Embedded mechanical
mechatronics/servo actuators

Robotics
lab automation
manufacturing plant robots (e.g., automotive)
semiconductors

Power
generation and transmission

Transportation
locomotives, elevators
marine

Nuclear engineering
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High-performance applications
Advanced design
Aerospace and Defense

aero, ground, space vehicles - piloted and unmanned

missiles/munitions
comm and radar: ground, aero, space
campaign control: C4ISR
directed energy

Science instruments
astronomy
accelerators
fusion: TOKAMAKs, LLNL ignition

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Embedded applications
No specialized control groups
Embedded controllers

consumer
test and measurement
power/current
thermal control

Telecom

PLLs, equalizers
antennas, wireless, las comm
flow/congestion control
optical networks - analog, physics

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Emerging control applications

A few selected cases
Biomedical

life support: pacemakers anesthesia

diagnostics: MRI scanners, etc
ophthalmology
bio-informatics equipment
robotics surgery

Computing
task/load balancing

Finance and economics

trading
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